- Version number changed to 0.9.0 + rotation123 changed to rotationXYZ + release notes finalized

Author: MartinOtter

Manifest.toml

@@ -154,9 +154,9 @@ uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae"
 
 [[deps.ConstructionBase]]
 deps = ["LinearAlgebra"]
-git-tree-sha1 = "c096d0e321368ac23eb1be1ea405814f8b32adb3"
+git-tree-sha1 = "59d00b3139a9de4eb961057eabb65ac6522be954"
 uuid = "187b0558-2788-49d3-abe0-74a17ed4e7c9"
-version = "1.3.1"
+version = "1.4.0"
 
 [[deps.CpuId]]
 deps = ["Markdown"]
@@ -213,9 +213,9 @@ version = "0.4.0"
 
 [[deps.DiffEqBase]]
 deps = ["ArrayInterfaceCore", "ChainRulesCore", "DataStructures", "Distributions", "DocStringExtensions", "FastBroadcast", "ForwardDiff", "FunctionWrappers", "LinearAlgebra", "Logging", "MuladdMacro", "NonlinearSolve", "Parameters", "Printf", "RecursiveArrayTools", "Reexport", "Requires", "SciMLBase", "Setfield", "SparseArrays", "StaticArrays", "Statistics", "ZygoteRules"]
-git-tree-sha1 = "9862c61c6049b0ad5a6b433e31d2c6c8ff373056"
+git-tree-sha1 = "f7a479aac5f3917b8472ac5f1b77d6f296fe58f1"
 uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
-version = "6.92.2"
+version = "6.92.3"
 
 [[deps.DiffEqCallbacks]]
 deps = ["DataStructures", "DiffEqBase", "ForwardDiff", "LinearAlgebra", "NLsolve", "Parameters", "RecipesBase", "RecursiveArrayTools", "SciMLBase", "StaticArrays"]
@@ -602,28 +602,22 @@ version = "1.0.2"
 uuid = "a63ad114-7e13-5084-954f-fe012c677804"
 
 [[deps.Modia]]
-deps = ["DataFrames", "DifferentialEquations", "FiniteDiff", "ForwardDiff", "InteractiveUtils", "JSON", "LinearAlgebra", "Measurements", "ModiaBase", "ModiaResult", "MonteCarloMeasurements", "OrderedCollections", "Printf", "RecursiveFactorization", "Reexport", "StaticArrays", "Sundials", "Test", "TimerOutputs", "Unitful"]
-git-tree-sha1 = "28acd8404dcef5e884f987795093898df45e33a1"
+deps = ["DataFrames", "DiffEqBase", "DifferentialEquations", "FiniteDiff", "ForwardDiff", "InteractiveUtils", "JSON", "LinearAlgebra", "Measurements", "ModiaBase", "MonteCarloMeasurements", "OrderedCollections", "Printf", "RecursiveFactorization", "Reexport", "SignalTables", "StaticArrays", "Sundials", "Test", "TimerOutputs", "Unitful"]
+git-tree-sha1 = "6b9fd66ea84883eb9a03666fc3bdb360d4b86d32"
 uuid = "cb905087-75eb-5f27-8515-1ce0ec8e839e"
-version = "0.8.3"
+version = "0.9.0"
 
 [[deps.ModiaBase]]
 deps = ["DataFrames", "DiffRules", "Measurements", "MonteCarloMeasurements", "OrderedCollections", "StaticArrays", "Unitful"]
 git-tree-sha1 = "57f347bcda8e96732d3f0c2e3a162383fedbeeff"
 uuid = "ec7bf1ca-419d-4510-bbab-199861c55244"
 version = "0.11.0"
 
-[[deps.ModiaResult]]
-deps = ["DataFrames", "Measurements", "MonteCarloMeasurements", "OrderedCollections", "Pkg", "Tables", "Unitful"]
-git-tree-sha1 = "02324a82efdb489c16bb6d008131a1447b125ad5"
-uuid = "16a87621-1533-42f6-8e19-4a825980cec2"
-version = "0.4.3"
-
 [[deps.MonteCarloMeasurements]]
 deps = ["Distributed", "Distributions", "LinearAlgebra", "MacroTools", "Random", "RecipesBase", "Requires", "SLEEFPirates", "StaticArrays", "Statistics", "StatsBase", "Test"]
-git-tree-sha1 = "03619e255664666b352a5e5f6b45e8b00d439870"
+git-tree-sha1 = "a7e89fde6ff10000e1a8f4d697b978d3908e913a"
 uuid = "0987c9cc-fe09-11e8-30f0-b96dd679fdca"
-version = "1.0.8"
+version = "1.0.9"
 
 [[deps.MozillaCACerts_jll]]
 uuid = "14a3606d-f60d-562e-9121-12d972cd8159"
@@ -899,6 +893,12 @@ version = "1.0.0"
 deps = ["Distributed", "Mmap", "Random", "Serialization"]
 uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383"
 
+[[deps.SignalTables]]
+deps = ["DataFrames", "JSON", "OrderedCollections", "Pkg", "Tables", "Test", "Unitful"]
+git-tree-sha1 = "cc3aa097670199d3eb1424d69b393844a916edc8"
+uuid = "3201582d-3078-4276-ba5d-0a1254d79d7c"
+version = "0.3.4"
+
 [[deps.SimpleTraits]]
 deps = ["InteractiveUtils", "MacroTools"]
 git-tree-sha1 = "5d7e3f4e11935503d3ecaf7186eac40602e7d231"
@@ -926,9 +926,9 @@ version = "1.24.0"
 
 [[deps.SpecialFunctions]]
 deps = ["ChainRulesCore", "IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"]
-git-tree-sha1 = "a9e798cae4867e3a41cae2dd9eb60c047f1212db"
+git-tree-sha1 = "d75bda01f8c31ebb72df80a46c88b25d1c79c56d"
 uuid = "276daf66-3868-5448-9aa4-cd146d93841b"
-version = "2.1.6"
+version = "2.1.7"
 
 [[deps.Static]]
 deps = ["IfElse"]
@@ -1092,9 +1092,9 @@ version = "1.11.0"
 
 [[deps.VectorizationBase]]
 deps = ["ArrayInterface", "CPUSummary", "HostCPUFeatures", "IfElse", "LayoutPointers", "Libdl", "LinearAlgebra", "SIMDTypes", "Static"]
-git-tree-sha1 = "9d87c8c1d27dc20ba8be6bdca85d36556c371172"
+git-tree-sha1 = "39e55018bccc5a858217db32aa3d9e7decbefd0c"
 uuid = "3d5dd08c-fd9d-11e8-17fa-ed2836048c2f"
-version = "0.21.38"
+version = "0.21.40"
 
 [[deps.VertexSafeGraphs]]
 deps = ["Graphs"]

Project.toml

@@ -1,7 +1,7 @@
 authors = ["Andrea Neumayr <[email protected]>", "Martin Otter <[email protected]>", "Gerhard Hippmann <[email protected]>"]
 name = "Modia3D"
 uuid = "07f2c1e0-90b0-56cf-bda7-b44b56e34eed"
-version = "0.11.0-dev"
+version = "0.11.0"
 
 [compat]
 Colors = "0.12, 0.11, 0.10"
@@ -12,7 +12,7 @@ HTTP = "0.9"
 JSON = "0.21"
 Measurements = "2"
 MeshIO = "0.4.10"
-Modia = "0.8.3, 0.9.0"
+Modia = "0.9.0"
 MonteCarloMeasurements = "1"
 OrderedCollections = "1"
 Reexport = "1.0"

README.md

@@ -29,6 +29,7 @@ Note, Modia3D reexports the following definitions
 - `using Modia`
 - `using Unitful`
 - `using DifferentialEquations`
+- `using SignalTables`
 - and exports functions `CVODE_BDF` and `IDA` of [Sundials.jl](https://github.com/SciML/Sundials.jl).
 
 As a result, it is usually sufficient to have `using Modia3D` in a model to utilize the relevant 
@@ -57,7 +58,8 @@ Modia3D has various *3D animation features*:
 
 ## Faster Startup
 
-In order to speed up startup, it is adviced to generate a sysimage by executing the following commands:
+In order to speed up startup, a sysimage can be generated by executing the following commands
+(may take several minutes):
 
 ```julia
 julia
@@ -66,7 +68,7 @@ include("$(Modia3D.path)/create_Modia3D_sysimage.jl")
 exit()
 ```
 
-This will include a file `Modia3D_sysimage.dll` (on Windows) or `Modia3D_sysimage.so` (otherwise) in your
+This will generate a file `Modia3D_sysimage.dll` (on Windows) or `Modia3D_sysimage.so` (otherwise) in your
 current working directory that includes all packages of your current project and the following packages
 (these packages are added to your current project, if not yet included):
 
@@ -79,6 +81,10 @@ julia -JModia3D_sysimage.dll (on Windows)
 julia -JModia3D_sysimage.so  (otherwise)
 ```
 
+The benefit is that `using Modia3D` is nearly immediatedly executed (instead of > 30 seconds).
+The drawback is that `create_Modia3D_sysimage.jl` has to be newly executed, whenever
+new package versions are used in your environment.
+
 ## Main Developers and License
 
 [Andrea Neumayr](mailto:[email protected]),

docs/src/index.md

@@ -67,7 +67,7 @@ This will include a file `Modia3D_sysimage.dll` (on Windows) or `Modia3D_sysimag
 current working directory that includes all packages of your current project and the following packages
 (these packages are added to your current project, if not yet included):
 
-- Modia, Modia3D, ModiaPlot_PyPlot, PackageCompiler, Revise
+- Modia, Modia3D, SignalTablesInterface_PyPlot, PackageCompiler, Revise
 
 Start julia with this sysimage in the following way:
 
@@ -94,31 +94,72 @@ julia -JModia3D_sysimage.so  (otherwise)
 ## Release Notes
 
 
-### Version 0.11.0-dev
+### Version 0.11.0
 
 - Requires Modia 0.9.0 or later.
 
-- Additional keyword arguments of Object3D: `Object3D(..., fixedInParent=true, velocity=[0.0, 0.0, 0.0], angularVelocity=[0.0, 0.0, 0.0])`.
-  A freely moving Object3D is defined with `Object3D(..., fixedInParent=false, ...)`. The states and other code for such Object3Ds are
-  no longer visible in the generated code (so compilation is faster).
+- Additional keyword arguments of Object3D: `Object3D(..., fixedInParent=true, velocity=[0.0, 0.0, 0.0], angularVelocity=[0.0, 0.0, 0.0])`,
+  besides the existing `parent, translation, rotation, feature`. A freely moving Object3D is defined with
+  `Object3D(..., fixedInParent=false, ...)`, where `velocity=.., angularVelocity=..`
+  are the initial conditions (resolved in the parent frame). The states and other code for such Object3Ds are
+  *not* part of the generated code (so compilation is faster, and the objects can be changed after code generation).\
+  If `fixedToParent=false`, vectors `translation, rotation, velocity, angularVelocity` (all resolved in `parent`) 
+  are used as states and are available in the result for plotting.
+  `rotation` is vector `[angleX, angleY, angleZ]` to rotate the parent coordinate system
+  along the x-axis with `angleX`, the y-axis with `angleY` and the z-axis with `angleZ` to arrive at the Object3D 
+  coordinate system.  If `rotation[2]` is close to its singular position (= 90u"°" or -90u"°"), 
+  an event is triggered and the rotation sequence is changed from `[angleX, angleY, angleZ]` to `[angleX, angleZ, angleY]`. 
+  In the new rotation sequence, `rotation[2]` is far from its singular position at this time instant.
+  Variable `rotationXYZ::Bool` in the result signals whether rotation is defined with rotation
+  sequence `[angleX, angleY, angleZ]` (`rotationXYZ=true`) or with rotation sequence 
+  `[angleX, angleZ, angleY]` (`rotationXYZ=false`). See, example `Modia3D/test/Basic/ShaftFreeMotionAdaptiveRotSequence.jl`.
+  Note, the initial conditions (so `rotation=...` as key/value pair in the Object3D constructor)
+  are always with `rotationXYZ=true`.\
+  With respect to an approach where the rotation is described with *quaternions*, the
+  adaptive rotation sequence handling has the benefits, that (1) all integrators can be used
+  (a quaternion description works with an overdetermined set of states and therefore standard
+  integrators with step size control need code changes) and that (2) integrators with step size control can usually
+  perform larger steps.
+
+- The `FreeMotion` joints in all test models have been removed and replaced by Object3Ds with `fixedInParent=false`.
+  A new test model test/Basic/FreeShaftAdaptiveRotSequenceWithFreeMotion.jl has been introduced with a `FreeMotion`
+  joint, to still have one test for a `FreeMotion` joint.
 
 - `Revolute(..)` and `Prismatic(..)` joints can define axis of rotation/translation optionally as vector, e.g., `axis = [1.0, 2.0, 3.0]`.
 
-- New variants of functions: `Modia3D.rot1(angle,v), Modia3D.rot2(angle,v), Modia3D.rot3(angle,v), Modia3D.resolve1(rotation,v2), Modia3D.resolve2(rotation,v1)`.
+- New function `Modia3D.rot1(angle,v)` which is an efficient implementation of `Modia3D.rot1(angle)*v` where `rot1(angle)` returns
+  a transformation matrix and `v` is a vector and `rot1(angle,v)` returns the product of the transformation matrix and a vector
+  in an efficient way. Correspondingly, there are new functions
+  `Modia3D.rot2(angle,v), Modia3D.rot3(angle,v), Modia3D.resolve1(rotation,v2), Modia3D.resolve2(rotation,v1)`.
+
+- Simulation speed improved, if contact of FileMesh objects.
+
+- contactPairMaterials.json updated with more material pairs (e.g. results in less warning messages for runtests).
+
+- New file `Modia3D.create_Modia3D_sysimage.jl` to create a *sysimage*. Using this sysimage has the
+  advantage that `using Modia3D` is nearly immediatedly executed (instead of > 30 seconds). 
+  For details, see README.md file.
+  
+- Internal: Timer included in Scene (scene.timer), so that a timer is more easily accessible for debugging.
+
+- Internal: Cleanup and improvements of Modia3D/src/Frames.jl 
+
 
 **Deprecated**
 
 - Joint `FreeMotion` is **deprecated**. Use instead `Object3D(..., fixedInParent=false, ...)`.
-  Note, Object3D has variables `translation, rotation, velocity, angularVelocity` instead of `r, rot, v, w` of `FreeMotion`.
+  Note, Object3D has variables `translation, rotation, velocity, angularVelocity, rotationXYZ` instead of 
+  `r, rot, v, w, isrot123` of `FreeMotion`.
   Furthermore, `angularVelocity` is resolved in the parent `Object3D` whereas `w` in `FreeMotion(obj1=.., obj2=..., ..)` is resolved in
   `obj2` and not in `obj1`. This means in particular that the init/start value `FreeMotion(.., w=Var(start=w_start)...)` needs
-  to be transformed in Object3D with `Object3D(..., fixedInParent=false, rotation=XXX, angularVelocity = Modia3D.resolve1(XXX,w_start))`.
-  As a side effect, 
+  to be transformed in Object3D with `Object3D(..., fixedInParent=false, rotation=XXX, angularVelocity = Modia3D.resolve1(XXX,w_start))`
+  and the results of `angularVelocity` will be different to `w` because resolved in different coordinate systems.
 
 **Non-backwards compatible changes**
 
 - Since Modia3D 0.11.0 is based on Modia 0.9.0, the non-backwards compatible changes of Modia have also an effect on Modia3D
-  (for details, see the release notes of Modia 0.9.0). Typically, this should give problems only in seldomly occuring corner cases.
+  (for details, see the [release notes of Modia 0.9.0](https://github.com/ModiaSim/Modia.jl/releases/tag/v0.9.0)). 
+  Typically, this should give problems only in seldomly occuring corner cases.
 
 
 ### Version 0.10.4

src/Composition/joints/joints.jl

@@ -89,12 +89,12 @@ mutable struct MultibodyData{F <: Modia3D.VarFloatType, TimeType}
 
             # Define hidden model states and copy initial values into eqInfo
             path = obj.path * "."
-            w_init = freeMotion.wResolvedInParent ? Modia3D.resolve1(freeMotion.rot, freeMotion.w, rotation123=freeMotion.isrot123) : freeMotion.w
+            w_init = freeMotion.wResolvedInParent ? Modia3D.resolve1(freeMotion.rot, freeMotion.w, rotationXYZ=freeMotion.isrot123) : freeMotion.w
             freeMotion.ix_segmented_r     = Modia.new_x_segmented_variable!(partiallyInstantiatedModel, path*"translation"    , path*"der(translation)"    , freeMotion.r)
             freeMotion.ix_segmented_v     = Modia.new_x_segmented_variable!(partiallyInstantiatedModel, path*"velocity"       , path*"der(velocity)"       , freeMotion.v)
             freeMotion.ix_segmented_rot   = Modia.new_x_segmented_variable!(partiallyInstantiatedModel, path*"rotation"       , path*"der(rotation)"       , freeMotion.rot)
             freeMotion.ix_segmented_w     = Modia.new_x_segmented_variable!(partiallyInstantiatedModel, path*"angularVelocity", path*"der(angularVelocity)", w_init)
-            freeMotion.iextra_isrot123 = Modia.new_w_segmented_variable!(partiallyInstantiatedModel, path*"rotation123", freeMotion.isrot123)
+            freeMotion.iextra_isrot123 = Modia.new_w_segmented_variable!(partiallyInstantiatedModel, path*"rotationXYZ", freeMotion.isrot123)
             freeMotion.ix_rot          = Modia.get_x_startIndex_from_x_segmented_startIndex(partiallyInstantiatedModel,freeMotion.ix_segmented_rot)
 
             # Define event indicator to monitor changing sequence of rotation angles
@@ -667,7 +667,7 @@ function change_rotSequence!(m::Modia.SimulationModel, freeMotion::FreeMotion, x
     @assert(rotation2ZeroCrossing <= 0)
 
     if m.options.logEvents
-        println("        ", freeMotion.path * ".rotation123 changed to ", freeMotion.isrot123)
+        println("        ", freeMotion.path * ".rotationXYZ changed to ", freeMotion.isrot123)
         println("        ", freeMotion.path * ".rotation changed to ", freeMotion.rot)
         println("        ", freeMotion.str_rot2 * " (= ", rotation2ZeroCrossing, ", ) became <= 0")
     end
@@ -697,7 +697,7 @@ function setStatesHiddenJoints!(m::Modia.SimulationModel{F,TimeType}, mbs::Multi
         j3 = freeMotion.ix_segmented_v  ;  freeMotion.v   = SVector{3,F}(x_segmented[j3], x_segmented[j3+1], x_segmented[j3+2])
         j4 = freeMotion.ix_segmented_w  ;  freeMotion.w   = SVector{3,F}(x_segmented[j4], x_segmented[j4+1], x_segmented[j4+2])
         if freeMotion.wResolvedInParent
-            freeMotion.w = Modia3D.resolve2(freeMotion.rot, freeMotion.w, rotation123 = freeMotion.isrot123)
+            freeMotion.w = Modia3D.resolve2(freeMotion.rot, freeMotion.w, rotationXYZ = freeMotion.isrot123)
         end
 
         # der(r) = v

src/Composition/joints/object3DMotion.jl

@@ -134,7 +134,7 @@ mutable struct FreeMotion{F <: Modia3D.VarFloatType} <: Modia3D.AbstractJoint
         w   = Modia3D.convertAndStripUnit(SVector{3,F}, u"rad/s", w)
         if wResolvedInParent
             # Transform w from obj1 to obj2
-            w = Modia3D.resolve2(rot, w, rotation123=isrot123)
+            w = Modia3D.resolve2(rot, w, rotationXYZ=isrot123)
         end
         a   = Modia3D.ZeroVector3D(F)
         z   = Modia3D.ZeroVector3D(F)

src/Composition/object3D.jl

@@ -79,8 +79,8 @@ If `fixedToParent=false`, the Object3D is moving freely relatively to `parent`.
 Vectors `translation`, `rotation`, `velocity`, `angularVelocity` (all resolved in `parent`) are used as states and are available in the result for plotting.
 
 If `rotation[2]` is close to its singular position (= 90u"°" or -90u"°"), an event is triggered and the rotation sequence is changed from `[angleX, angleY, angleZ]` to
-`[angleX, angleZ, angleY]`. In the new rotation sequence, `rotation[2]` is far from its singular position at this time instant. Variable `rotation123::Bool` in the result
-signals whether `rotation` is defined with rotation sequence `[angleX, angleY, angleZ]` (`rotation123=true`) or with rotation sequence `[angleX, angleZ, angleY]` (`rotation123=false`).
+`[angleX, angleZ, angleY]`. In the new rotation sequence, `rotation[2]` is far from its singular position at this time instant. Variable `rotationXYZ::Bool` in the result
+signals whether `rotation` is defined with rotation sequence `[angleX, angleY, angleZ]` (`rotationXYZ=true`) or with rotation sequence `[angleX, angleZ, angleY]` (`rotationXYZ=false`).
 See, example `Modia3D/test/Basic/ShaftFreeMotionAdaptiveRotSequence.jl`.